Lenze E94P PositionServo with MVOB - Manual (Page 56)

54 L PM94H201B_13xxxxxx_EN
Programming
{...Statements}
......
MOVED 20,C
MDV 10,5
MDV 20,5
MDV 10,0
MOVEP 0,C
.......
{statements}
To Motion Profiler
User Program
EMPTY
EMPTY
MOVED 20
MDV 10,5
MDV 20,5
1
2
3
31
32
MDV 10,0 4
MOVEP 0 5
EMPTY 6
Queue locations
Queue INPUT pointer
Pointer always positions
to next available location
Queue Full
flag
Queue
Empty flag
Figure 21: Motion Queue
The Motion Queue can hold a maximum of 32 motion statements. The System Status Register contains bit values that
indicate the state of the Motion Queue. Additionally, system flags (representing individual bits of the status register) are
available for ease of programming. If the possibility of motion queue overflow exists, the programmer should check the
Motion Queue full flag before executing any MOVE statements, especially in programs where MOVE statements are
executed in a continuous cycle. Attempts to execute a motion statement while the Motion Queue is full will result in fault
#23. MDV statements don’t have the “C” option because the program is never suspended by these statements. If the
last MDV statement in the Queue doesn’t specify a return to 0 velocity then a Stack Underflow (Fault #24) will occur.
The “MOTION SUSPEND” and “MOTION RESUME” statements can be utilized to help manage the User Program
and the Motion Queue. If the motion profiles loaded into the queue are not managed correctly, the Motion Queue can
become overloaded which will cause the drive to fault.